- Teleoperating the mobile base with the keyboard
How to move the differential drive base of TIAGo++ using the key_teleop package.
- Moving the base through velocity commands
This tutorial shows how to move the base by sending velocity commands to the appropriate topic.
- Joint Trajectory Controller
Example of how to move TIAGo++'s arms using a joint trajectory action.
- Moving individual joints
Different ways to move individual joints of TIAGo++ are explained.
- Head control
Example on how to move TIAGo++'s head using an action that makes the robot look to a given direction.
- Playing pre-defined upper body motions
Tutorial on how to play back pre-defined upper body motions with TIAGo++ using the play_motion package.
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